/**
 * @author Filipe Caixeta / http://filipecaixeta.com.br
 * @author Mugen87 / https://github.com/Mugen87
 *
 * Description: A THREE loader for PCD ascii and binary files.
 *
 * Limitations: Compressed binary files are not supported.
 *
 */

import {
	DefaultLoadingManager,
	FileLoader,	
	LoaderUtils,	
} from "./three.module.js";


var PCDLoader = function ( manager ) {

	this.manager = ( manager !== undefined ) ? manager : DefaultLoadingManager;
	this.littleEndian = true;

};


PCDLoader.prototype = {

	constructor: PCDLoader,

	load: function ( url, onLoad, onProgress, onError, onFileLoaded ) {

		var scope = this;

		var loader = new FileLoader( scope.manager );
		loader.setPath( scope.path );
		loader.setResponseType( 'arraybuffer' );
		loader.load( url, function ( data ) {

			try {
				if (onFileLoaded)
					onFileLoaded();
				onLoad( scope.parse( data, url) );
			} catch ( e ) {

				if ( onError ) {

					onError( e );

				} else {

					throw e;

				}

			}

		}, onProgress, onError );

	},

	setPath: function ( value ) {

		this.path = value;
		return this;

	},

	parse: function(data, url){
		var addr = url.split(".");
		var file_ext = addr[addr.length-1];

		if (file_ext === "pcd")
			return this.parsePcd(data, url);
		else {
			console.log("load", file_ext, "file");
			return this.parseBin(data, url);
		}
			
	},

	parseBin: function(data, url){
		var dataview = new DataView( data, 0);

		var position = [];
		var normal = [];
		var color = [];

		//kitti format, xyzi
		var offset = 0;

		for ( var row = 0; row < data.byteLength/(4*4); row += 1 ) {
			position.push( dataview.getFloat32( row*16 + 0, this.littleEndian ) );
			position.push( dataview.getFloat32( row*16 + 4, this.littleEndian ) );
			position.push( dataview.getFloat32( row*16 + 8, this.littleEndian ) );
		}

		return {
			position: position,
			color: color,
			normal: normal,
		};
	},

	parsePcd: function ( data, url) {
	
		function parseHeader( data ) {

			var PCDheader = {};
			var result1 = data.search( /[\r\n]DATA\s(\S*)\s/i );
			var result2 = /[\r\n]DATA\s(\S*)\s/i.exec( data.substr( result1 - 1 ) );

			PCDheader.data = result2[ 1 ];
			PCDheader.headerLen = result2[ 0 ].length + result1;
			PCDheader.str = data.substr( 0, PCDheader.headerLen );

			// remove comments

			PCDheader.str = PCDheader.str.replace( /\#.*/gi, '' );

			// parse

			PCDheader.version = /VERSION (.*)/i.exec( PCDheader.str );
			PCDheader.fields = /FIELDS (.*)/i.exec( PCDheader.str );
			PCDheader.size = /SIZE (.*)/i.exec( PCDheader.str );
			PCDheader.type = /TYPE (.*)/i.exec( PCDheader.str );
			PCDheader.count = /COUNT (.*)/i.exec( PCDheader.str );
			PCDheader.width = /WIDTH (.*)/i.exec( PCDheader.str );
			PCDheader.height = /HEIGHT (.*)/i.exec( PCDheader.str );
			PCDheader.viewpoint = /VIEWPOINT (.*)/i.exec( PCDheader.str );
			PCDheader.points = /POINTS (.*)/i.exec( PCDheader.str );

			// evaluate

			if ( PCDheader.version !== null )
				PCDheader.version = parseFloat( PCDheader.version[ 1 ] );

			if ( PCDheader.fields !== null )
				PCDheader.fields = PCDheader.fields[ 1 ].split( ' ' );

			if ( PCDheader.type !== null )
				PCDheader.type = PCDheader.type[ 1 ].split( ' ' );

			if ( PCDheader.width !== null )
				PCDheader.width = parseInt( PCDheader.width[ 1 ] );

			if ( PCDheader.height !== null )
				PCDheader.height = parseInt( PCDheader.height[ 1 ] );

			if ( PCDheader.viewpoint !== null )
				PCDheader.viewpoint = PCDheader.viewpoint[ 1 ];

			if ( PCDheader.points !== null )
				PCDheader.points = parseInt( PCDheader.points[ 1 ], 10 );

			if ( PCDheader.points === null )
				PCDheader.points = PCDheader.width * PCDheader.height;

			if ( PCDheader.size !== null ) {

				PCDheader.size = PCDheader.size[ 1 ].split( ' ' ).map( function ( x ) {

					return parseInt( x, 10 );

				} );

			}

			if ( PCDheader.count !== null ) {

				PCDheader.count = PCDheader.count[ 1 ].split( ' ' ).map( function ( x ) {

					return parseInt( x, 10 );

				} );

			} else {

				PCDheader.count = [];

				for ( var i = 0, l = PCDheader.fields.length; i < l; i ++ ) {

					PCDheader.count.push( 1 );

				}

			}

			PCDheader.offset = {};

			var sizeSum = 0;

			for ( var i = 0, l = PCDheader.fields.length; i < l; i ++ ) {

				if ( PCDheader.data === 'ascii' ) {

					PCDheader.offset[ PCDheader.fields[ i ] ] = i;

				} else {

					PCDheader.offset[ PCDheader.fields[ i ] ] = sizeSum;
					sizeSum += PCDheader.size[ i ] * PCDheader.count[ i ];

				}

			}

			// for binary only

			PCDheader.rowSize = sizeSum;

			return PCDheader;

		}

		function decompressLZF(inData, outLength) {
          var inLength = inData.length
          var outData = new Uint8Array(outLength)
          var inPtr = 0
          var outPtr = 0
          var ctrl
          var len
          var ref
          do {
            ctrl = inData[inPtr++]
            if (ctrl < 1 << 5) {
              ctrl++
              if (outPtr + ctrl > outLength) throw new Error('Output buffer is not large enough')
              if (inPtr + ctrl > inLength) throw new Error('Invalid compressed data')
              do {
                outData[outPtr++] = inData[inPtr++]
              } while (--ctrl)
            } else {
              len = ctrl >> 5
              ref = outPtr - ((ctrl & 0x1f) << 8) - 1
              if (inPtr >= inLength) throw new Error('Invalid compressed data')
              if (len === 7) {
                len += inData[inPtr++]
                if (inPtr >= inLength) throw new Error('Invalid compressed data')
              }

              ref -= inData[inPtr++]
              if (outPtr + len + 2 > outLength) throw new Error('Output buffer is not large enough')
              if (ref < 0) throw new Error('Invalid compressed data')
              if (ref >= outPtr) throw new Error('Invalid compressed data')
              do {
                outData[outPtr++] = outData[ref++]
              } while (--len + 2)
            }
          } while (inPtr < inLength)

          return outData
        }

		var textData = LoaderUtils.decodeText( new Uint8Array( data ) );

		// parse header (always ascii format)

		var PCDheader = parseHeader( textData );

		// parse data

		var position = [];
		var normal = [];
		var color = [];

        var offset = PCDheader.offset;

		// ascii

		if ( PCDheader.data === 'ascii' ) {
			var pcdData = textData.substr( PCDheader.headerLen );
			var lines = pcdData.split( '\n' );

			for ( var i = 0, l = lines.length; i < l; i ++ ) {

				if ( lines[ i ] === '' ) continue;

				var line = lines[ i ].split( ' ' );

				if ( offset.x !== undefined ) {
					var x,y,z;
					x = parseFloat( line[ offset.x ] );
					y = parseFloat( line[ offset.y ] );
					z = parseFloat( line[ offset.z ] );

					position.push( x );
					position.push( y );
					position.push( z );

				}

				if ( offset.rgb !== undefined ) {

					var rgb = parseFloat( line[ offset.rgb ] );
					var r = ( rgb >> 16 ) & 0x0000ff;
					var g = ( rgb >> 8 ) & 0x0000ff;
					var b = ( rgb >> 0 ) & 0x0000ff;
					color.push( r / 255, g / 255, b / 255 );

				}

				if ( offset.normal_x !== undefined ) {

					normal.push( parseFloat( line[ offset.normal_x ] ) );
					normal.push( parseFloat( line[ offset.normal_y ] ) );
					normal.push( parseFloat( line[ offset.normal_z ] ) );

				}

			}

		}

		// binary_compressed

		else if ( PCDheader.data === 'binary_compressed' ) {

			var sizes = new Uint32Array(data.slice(PCDheader.headerLen, PCDheader.headerLen + 8))
            var compressedSize = sizes[0]
            var decompressedSize = sizes[1]
            var decompressed = decompressLZF(new Uint8Array(data, PCDheader.headerLen + 8, compressedSize), decompressedSize)
            var dataview = new DataView(decompressed.buffer)

			for ( var i = 0, row = 0; i < PCDheader.points; i ++, row += PCDheader.rowSize ) {

				if ( offset.x !== undefined ) {

					position.push(dataview.getFloat32(PCDheader.points * offset.x + PCDheader.size[0] * i, this.littleEndian));
                    position.push(dataview.getFloat32(PCDheader.points * offset.y + PCDheader.size[1] * i, this.littleEndian));
                    position.push(dataview.getFloat32(PCDheader.points * offset.z + PCDheader.size[2] * i, this.littleEndian));

				}

				if ( offset.rgb !== undefined ) {

					color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 0) / 255.0);
                    color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 1) / 255.0);
                    color.push(dataview.getUint8(PCDheader.points * offset.rgb + PCDheader.size[3] * i + 2) / 255.0);

				}

				if ( offset.normal_x !== undefined ) {

					normal.push( dataview.getFloat32(PCDheader.points * offset.normal_x + PCDheader.size[4] * i, this.littleEndian) );
                    normal.push( dataview.getFloat32(PCDheader.points * offset.normal_y + PCDheader.size[5] * i, this.littleEndian) );
                    normal.push( dataview.getFloat32(PCDheader.points * offset.normal_z + PCDheader.size[6] * i, this.littleEndian) );

				}

			}
		}

        // binary

		else if ( PCDheader.data === 'binary' ) {

			var dataview = new DataView( data, PCDheader.headerLen );

			for ( var i = 0, row = 0; i < PCDheader.points; i ++, row += PCDheader.rowSize ) {

				if ( offset.x !== undefined ) {

					position.push( dataview.getFloat32( row + offset.x, this.littleEndian ) );
					position.push( dataview.getFloat32( row + offset.y, this.littleEndian ) );
					position.push( dataview.getFloat32( row + offset.z, this.littleEndian ) );

				}

				if ( offset.rgb !== undefined ) {

					color.push( dataview.getUint8( row + offset.rgb + 2 ) / 255.0 );
					color.push( dataview.getUint8( row + offset.rgb + 1 ) / 255.0 );
					color.push( dataview.getUint8( row + offset.rgb + 0 ) / 255.0 );

				}

				if ( offset.normal_x !== undefined ) {

					normal.push( dataview.getFloat32( row + offset.normal_x, this.littleEndian ) );
					normal.push( dataview.getFloat32( row + offset.normal_y, this.littleEndian ) );
					normal.push( dataview.getFloat32( row + offset.normal_z, this.littleEndian ) );

				}

			}

		}

		return {
			position: position,
			color: color,
			normal: normal,
		};
		
	}

};

export { PCDLoader };
